oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Combining Task and Motion Planning is Not Always a Good Idea
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-0458-2146
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Combining task and motion planning requires tointerleave causal and geometric reasoning, in order to guaranteethe plan to be executable in the real world. The resulting searchspace, which is the cross product of the symbolic search spaceand the geometric search space, is huge. Systematically calling ageometric reasoner while evaluating symbolic actions is costly. Onthe other hand, geometric reasoning can prune out large parts ofthis search space if geometrically infeasible actions are detectedearly. Hence, we hypothesized the existence of a search depthlevel, until which geometric reasoning can be interleaved withsymbolic reasoning with tractable combinatorial explosion, whilekeeping the benefits of this pruning. In this paper, we propose asimple model that proves the existence of such search depth level,and validate it empirically through experiments in simulation

Place, publisher, year, edition, pages
2013.
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-30821OAI: oai:DiVA.org:oru-30821DiVA, id: diva2:648554
Conference
2013 Robotics: Science and Systems Conference (Workshop "Combined Robot Motion Planning and AI Planning for Practical Applications")
Funder
EU, FP7, Seventh Framework ProgrammeAvailable from: 2013-09-16 Created: 2013-09-16 Last updated: 2018-01-18Bibliographically approved

Open Access in DiVA

No full text in DiVA

Authority records BETA

Lagriffoul, FabienKarlsson, LarsBidot, JulienSaffiotti, Alessandro

Search in DiVA

By author/editor
Lagriffoul, FabienKarlsson, LarsBidot, JulienSaffiotti, Alessandro
By organisation
School of Science and Technology
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 341 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf